\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor}{
\section{Zebulon::Gamblore::GlobalPoseSensor Class Reference}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor}\index{Zebulon::Gamblore::GlobalPoseSensor@{Zebulon::Gamblore::GlobalPoseSensor}}
}


Global Pose Sensor component for \hyperlink{namespace_gamblore}{Gamblore} Unmanned System. This class creates a JAUS Global Pose Sensor that combines data from a DGPS and Digital Compass.  


{\ttfamily \#include $<$globalposesensor.h$>$}Inheritance diagram for Zebulon::Gamblore::GlobalPoseSensor::\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[height=2cm]{class_zebulon_1_1_gamblore_1_1_global_pose_sensor}
\end{center}
\end{figure}
\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a844870e0b96821e737f6609d38b9f957}{
virtual int \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a844870e0b96821e737f6609d38b9f957}{SetupService} ()}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a844870e0b96821e737f6609d38b9f957}

\begin{DoxyCompactList}\small\item\em Sets the services and registers compass and gps callbacks. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a17588e3f10899fd37dc50faf3a332035}{
int \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a17588e3f10899fd37dc50faf3a332035}{InitializeGlobalPoseSensor} (const std::string \&compassPortName, const std::string \&gpsPortName)}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a17588e3f10899fd37dc50faf3a332035}

\begin{DoxyCompactList}\small\item\em Initializes the sensors belonging to the global pose object. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a10dbd6d08fb0551c06dc099e8d68054d}{
int {\bfseries ShutdownGlobalPoseSensor} ()}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a10dbd6d08fb0551c06dc099e8d68054d}

\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_ac9a188d95fc3e4cdfdc003150d1ade51}{
bool {\bfseries IsSensorInitialized} () const }
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_ac9a188d95fc3e4cdfdc003150d1ade51}

\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_ad5e8d9eb154779bd7a705a5378c33b3c}{
virtual void {\bfseries ProcessMessage} (const \hyperlink{class_zebulon_1_1_micro_strain_1_1_message}{MicroStrain::Message} $\ast$msg)}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_ad5e8d9eb154779bd7a705a5378c33b3c}

\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a3dba656f595040c74fa9db55e9a619b1}{
virtual void \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a3dba656f595040c74fa9db55e9a619b1}{ProcessMessage} (const \hyperlink{class_zebulon_1_1_n_m_e_a_1_1_message}{NMEA::Message} $\ast$msg)}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a3dba656f595040c74fa9db55e9a619b1}

\begin{DoxyCompactList}\small\item\em Method called through gps callback. Sets latitude and longitude. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a5ccfaf7f33c8b264b320738493b12ab3}{
void \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a5ccfaf7f33c8b264b320738493b12ab3}{PrintAttitude} () const }
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a5ccfaf7f33c8b264b320738493b12ab3}

\begin{DoxyCompactList}\small\item\em Prints attitude values to the screen. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a55898363944928ef73555ea7acc8add6}{
void \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a55898363944928ef73555ea7acc8add6}{PrintPosition} () const }
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a55898363944928ef73555ea7acc8add6}

\begin{DoxyCompactList}\small\item\em Prints position values to the screen. \item\end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{Protected Attributes}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a082f14f817ad2319983021187e836ad3}{
CxUtils::Mutex \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a082f14f817ad2319983021187e836ad3}{mSensorMutex}}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a082f14f817ad2319983021187e836ad3}

\begin{DoxyCompactList}\small\item\em Mutex for sensor. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a8db59f4e6522a08c2145da277b6bdeba}{
std::vector$<$ double $>$ \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a8db59f4e6522a08c2145da277b6bdeba}{mHeadingHistory}}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a8db59f4e6522a08c2145da277b6bdeba}

\begin{DoxyCompactList}\small\item\em Heading history. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_af486d05f4c482787cac9d65b0680bf6d}{
Jaus::GlobalPose \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_af486d05f4c482787cac9d65b0680bf6d}{mCombinedGlobalPose}}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_af486d05f4c482787cac9d65b0680bf6d}

\begin{DoxyCompactList}\small\item\em Global pose from both sensors. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a982b2fe8a9c173350678438a9ebfbdf4}{
\hyperlink{class_zebulon_1_1_micro_strain_1_1_three_d_m_g_x1}{MicroStrain::ThreeDMGX1} \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a982b2fe8a9c173350678438a9ebfbdf4}{mCompass}}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a982b2fe8a9c173350678438a9ebfbdf4}

\begin{DoxyCompactList}\small\item\em Digital compass interface. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a2a514f6be03b36a3b7d8ec0a0fa45ef2}{
\hyperlink{class_zebulon_1_1_g_p_s_1_1_d_g_p_s}{GPS::DGPS} \hyperlink{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a2a514f6be03b36a3b7d8ec0a0fa45ef2}{mDGPS}}
\label{class_zebulon_1_1_gamblore_1_1_global_pose_sensor_a2a514f6be03b36a3b7d8ec0a0fa45ef2}

\begin{DoxyCompactList}\small\item\em DGPS Interface. \item\end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Detailed Description}
Global Pose Sensor component for \hyperlink{namespace_gamblore}{Gamblore} Unmanned System. This class creates a JAUS Global Pose Sensor that combines data from a DGPS and Digital Compass. 

The documentation for this class was generated from the following file:\begin{DoxyCompactItemize}
\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/gamblore/include/gamblore/globalposesensor.h\end{DoxyCompactItemize}
